The Automated GardenerThe Automated Gardener••Jacques Princivil, Christopher Clinton, Jacques Princivil, Christopher Clinton, AnkurAnkur

NagpalNagpal, Kevin , Kevin KrupnovKrupnov••Professor Professor VikramVikram KapilaKapila

••Mentor: Joseph Mentor: Joseph WaghWagh

OverviewOverview•• What is What is MechatronicsMechatronics??•• Our Goal: A robot PlanterOur Goal: A robot Planter•• The SchematicsThe Schematics•• Featured Part: Skid steeringFeatured Part: Skid steering•• Power and MobilityPower and Mobility•• Obstacle avoidanceObstacle avoidance•• ResultsResults•• ConclusionConclusion•• Future Goals Future Goals •• AcknowledgementsAcknowledgements

What is What is MechatronicsMechatronics??

MechatronicsMechatronics is the is the synthetic integration of:synthetic integration of:

�� Mechanical EngineeringMechanical Engineering�� The Control TheoryThe Control Theory�� Computer ScienceComputer Science�� Electrical EngineeringElectrical Engineering

www.Schools.burnnet.net/mem/

Our Goal: A Robot PlanterOur Goal: A Robot Planter

•• Create a robot that will Create a robot that will drill a whole, deposit drill a whole, deposit seeds and water the soilseeds and water the soil

•• Less time consumingLess time consuming•• Can be used by Can be used by

commercial growers as commercial growers as well as individuals in well as individuals in their home gardenstheir home gardens

www.people.fas.harvard.edu/,,,/farming.jpeg

The SchematicsThe Schematics

All Designs Created on Discret’s Autodesk Inventor

Featured Part: Skid steeringFeatured Part: Skid steering

•• Allows an easier turning Allows an easier turning radiusradius

•• TractionTraction•• PowerPower

Skid Loaders

Power and MobilityPower and Mobility

•• DC motors can not be DC motors can not be directly controlled from a directly controlled from a Basic Stamp:Basic Stamp:

•• Solution: HSolution: H--Bridge:Bridge:controls and limits controls and limits

the directional force of the directional force of the motor as well as its the motor as well as its speedspeed

Designed on Circuit Maker

Power and Mobility (Power and Mobility (ConCon’’dd))

•• Simple avoidance MethodSimple avoidance Method•• Line path followingLine path following•• ModingModing SystemSystem

Obstacle AvoidanceObstacle Avoidance

•• Centered around 3 IR Centered around 3 IR (Infrared) sensors(Infrared) sensors

•• Avoids obstacles while Avoids obstacles while maintaining a linemaintaining a line--following path following path

I.R wiring Diagram

I.R with built in receiver

http://www.parallax.com/detail.asp?product_id=28019

ResultsResults

ConclusionConclusion

•• Robot follows Line PathRobot follows Line Path•• SelfSelf--controlled form of Skid steering creates controlled form of Skid steering creates

favorable turning conditions in tight spaces favorable turning conditions in tight spaces •• Efficiently completes the planting process Efficiently completes the planting process --

drill, seed and water.drill, seed and water.

Future GoalsFuture Goals

Our future goal is to have a sensor able to Our future goal is to have a sensor able to determine the ph level of the soil in order to determine the ph level of the soil in order to allow the robot to determine if the plant will be allow the robot to determine if the plant will be able to flourishable to flourish

AcknowledgementsAcknowledgements

We would like to thankWe would like to thank•• Professor Professor VikramVikram KapilaKapila•• Our Mentor Joseph Our Mentor Joseph WaghWagh•• Our Counselor Assistants (Thelma and Omar)Our Counselor Assistants (Thelma and Omar)•• The Machinist: Alessandro The Machinist: Alessandro BettiBetti•• All the Personal Yes CenterAll the Personal Yes Center